• Title/Summary/Keyword: 피치 제어

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Implementation of Educational Two-wheel Inverted Pendulum Robot using NXT Mindstorm (NXT Mindstorm을 이용한 교육용 이륜 도립진자 로봇 제작)

  • Jung, Bo Hwan
    • Journal of the Institute of Electronics and Information Engineers
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    • v.54 no.7
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    • pp.127-132
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    • 2017
  • In this paper, we propose a controller gain based on model based design and implement the two-wheel inverted pendulum type robot using NXT Lego and RobotC language. Two-wheel inverted pendulum robot consists of NXT mindstorm, servo DC motor with encoder, gyro sensor, and accelerometer sensor. We measurement wheel angle using bulit-in encoder and calculate wheel angle speed using moving average method. Gyro measures body angular velocity and accelerometer measures body pitch angle. We calculate body angle with complementary filter using gyro and accelerometer sensor. The control gain is a weighted value for wheel angle, wheel angular velocity, body pitch angle, and body pich angular velocity, respectively. We experiment and observe the effect of two-wheel inverted pendulum with respect to change of control gains.

Optimization of Wind Turbine Pitch Controller by Neural Network Model Based on Latin Hypercube (라틴 하이퍼큐브 기반 신경망모델을 적용한 풍력발전기 피치제어기 최적화)

  • Lee, Kwangk-Ki;Han, Seung-Ho
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.36 no.9
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    • pp.1065-1071
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    • 2012
  • Wind energy is becoming one of the most preferable alternatives to conventional sources of electric power that rely on fossil fuels. For stable electric power generation, constant rotating speed control of a wind turbine is performed through pitch control and stall control of the turbine blades. Recently, variable pitch control has been implemented in modern wind turbines to harvest more energy at variable wind speeds that are even lower than the rated one. Although wind turbine pitch controllers are currently optimized using a step response via the Ziegler-Nichols auto-tuning process, this approach does not satisfy the requirements of variable pitch control. In this study, the variable pitch controller was optimized by a genetic algorithm using a neural network model that was constructed by the Latin Hypercube sampling method to improve the Ziegler-Nichols auto-tuning process. The optimized solution shows that the root mean square error, rise time, and settle time are respectively improved by more than 7.64%, 15.8%, and 15.3% compared with the corresponding initial solutions obtained by the Ziegler-Nichols auto-tuning process.

A Study on the modeling and operation control of a variable speed synchronous wind power system (가변속 동기형 풍력발전 시스템 모델링 및 운전제어에 대한 연구)

  • Huh, Hyun;Lee, Jaehak
    • The Journal of the Korea institute of electronic communication sciences
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    • v.10 no.8
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    • pp.935-944
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    • 2015
  • This study performs the dynamic modeling and the simulation of variable speed wind power system and implements the models of wind speed, wind turbine & PMSG, and MPPT & pitch control as well. The simulation of wind turbine was performed by using the power coefficient and other simulation parameters which were extracted with reference to the commercial 5MW class wind turbine data. As the result of this simulation, MPPT control is confirmed, maintaining the maximum power coefficient as far as the rated speed 12[m/s]. Over 12[m/s] wind speed, this wind power system makes it possible to keep the stable output by controlling the pitch angle.

Dynamic Models of Blade Pitch Control System Driven by Electro-Mechanical Actuator (전기-기계식 구동기를 이용한 블레이드 피치 조종 시스템의 동역학 모델)

  • Jin, Jaehyun
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.50 no.2
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    • pp.111-118
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    • 2022
  • An electro-mechanical actuator (EMA) is an actuator that combines an electric motor with a mechanical power transmission elements, and it is suitable for urban air mobility (UAM) in terms of design freedom and maintenance. In this paper, the author presents the research results of the EMA that controls the rotor blade pitch angle of UAM. The actuator is based on an inverted roller screw and controls the blade pitch angle through a two-bar linkage. The dynamic equations for the actuator alone and the blade pitching motion with actuator were derived. For the latter, the equivalent moment of inertia is variable depending on the link angle due to the two-bar linkage. The variations of the equivalent moments of inertia are analyzed and compared in terms of the nut motion and the blade pitch motion. For an example model, the variation of the equivalent moment of inertia of the former is smaller than the latter, so it is judged that the dynamic equations derived from the point of view of the nut motion is suitable for the controller design.

Magnetic Levitation Control through the Introduction of Bogie Pitch Motion into a Control Law (대차 피치운동을 반영한 흡인식 자기부상제어)

  • Ha, Chang-Wan;Kim, Chang-Hyun;Jo, Jeong-Min;Lim, JaeWon;Han, Hyung-Suk
    • Journal of the Korean Society for Railway
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    • v.18 no.2
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    • pp.87-93
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    • 2015
  • The uneven reaction surface profile facing the lift magnets in attractive Maglev vehicles naturally brings about pitch motion of the bogie. In particular, in the placement configuration of the long stator of the linear synchronous motor (LSM) on the track for high-speed propulsion, surface irregularities and the offsets between the stator packs create measurable airgaps, i.e., the clearance between the magnet and the stator, with discontinuously extreme values, resulting in bogie pitch motion. This occurs because the airgap velocities and accelerations derived by the differentiations of the measured air-gaps are used to determine the voltages applied to the magnets. This paper incorporates bogie pitch motion into a control law for each magnet controller to reduce the variations in both the airgap and the pitch angle. The effectiveness of the proposed method is analyzed using a full-scale Maglev vehicle running over a test track.

Individual Pitch Control of NREL 5MW Wind Turbine Blade for Load Reduction (NREL 5MW 풍력터빈의 블레이드 하중 저감을 위한 개별피치제어)

  • La, Yo-Han;Nam, Yoon-Su;Son, Jae-Hoon
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.36 no.11
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    • pp.1427-1432
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    • 2012
  • As the size of a wind turbine increases, the rotor diameter increases. Rotor blades experience mechanical loads caused by the wind shear and the tower shadow effect. These mechanical loads reduce the life of the wind turbine. Therefore, with increasing size of the wind turbine, wind turbine control system design for the mitigation of mechanical loads is important. In this study, Individual Pitch Control in introduced for reducing the mechanical loads of rotor blades, and a simulation for IPC performance verification is discussed.

Adaptive Control of Spacecraft with Elastic Appendages (유연한 부속물을 가진 우주선의 적응제어)

  • Lee, Ho-Jin;Lee, Keum-Won
    • Journal of the Institute of Convergence Signal Processing
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    • v.9 no.2
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    • pp.159-163
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    • 2008
  • In this paper, a simplified type of adaptive controller using Nussbaum gain for the control of the spacecrapt with elastic appendages is suggested. This method doesn't need the information of the high frequency components in transfer function. While the pitch angle tracks the desired value by this method, the elastic modes are also stabilized. Only pitch angle and the pitch rate are used for the design of the output feedback controller. Especially all system parameters and the high frequency gain are assumed to be unknown. For design simplicity, a controller is designed by using only the linear part, and it's shown to satisfy the nonlinear system by the simulation with basic explanations. By using the Lyapunov function, the stability of the suggested algorithm is demonstrated, and also the effectiveness of the suggested algorithm is verified by showing the computer simulation results.

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Performance Analysis and Pitch Control of Dual-Rotor Wind Turbine Generator System (Dual-Rotor 풍력 발전 시스템 성능 해석 및 피치 제어에 관한 연구)

  • Cho, Yun-Mo;No, Tae-Soo;Jung, Sung-Nam;Kim, Ji-Yon
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.33 no.7
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    • pp.40-50
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    • 2005
  • In this paper, preliminary results for performance prediction of a dual-rotor wind turbine generator system are presented. Blade element and momentum theories are used to model the aerodynamic forces and moments acting on the rotor blades, and multi-body dynamics approach is used to integrate the major components to represent the overall system. Not only the steady-state performance but the transient response characteristics are analyzed. Pitch control strategy to control the rotor speed and the generator output is proposed and its performance is verified through the nonlinear simulation.

Simulation Modeling cnd Analysis of Pitch Controlled Variable Speed Wind Turbine System (피치제어형 가변속 풍력터빈 시스템의 시뮬레이션 모델링과 해석)

  • Kim, Eel-Hwan;Kang, Geong-Bo
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.19 no.2
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    • pp.124-130
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    • 2005
  • This paper presents the simulation modeling and analysis of variable wind speed turbine system(VWTS) using Psim program In the simulation, using the Vestas V47 VWTS located in Hangwon wind farm in Jeju-Do as a model, wind model, blade model, pitch control model and grided connected generator are modeled. The VWTS is controlled by the optimal pitch angle for maximum output power under the rated wind speed and for the rated output power over the rated wind speed. To verify the effectiveness of proposed method, simulation results are compared with the actual data from the model system According to the comparison of these results, this method shows excellent performance. So it is very useful for understanding and applications of wind power control system.

Neural Network Controller of A Grid-Connected Wind Energy Conversion System for Maximum Power Extraction (계통연계 풍력발전시스템의 최대출력제어를 위한 신경회로망 제어기에 관한 연구)

  • Ro, Kyoung-Soo;Choo, Yeon-Sik
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.18 no.2
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    • pp.142-149
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    • 2004
  • This paper presents a neural network controller of a grid-connected wind energy conversion system for extracting maximum power from wind and a power controller to transfer the maximum power extracted into a utility grid. It discusses the modeling and simulation of the wind energy conversion system with the controllers, which consists of an induction generator, a transformer, a link of a rectifier, and an inverter. The paper describes tile drive train model, induction generator model and grid-interface model for dynamics analysis. Maximum power extraction is achieved by controlling the pitch angle of the rotor blades by a neural network controller. Pitch control method is mechanically complicated, but the control performance is better than that of the stall regulation. The simulation results performed on MATLAB show the variation of the generator torque, the generator rotor speed, the pitch angle, and real/reactive power injected into the grid, etc. Based on the simulation results, the effectiveness of the proposed controllers is verified.